In this paper, we investigate the influence of the following parameters: pulse duration, pulse repetition rate, line-to-line and pulse-to-pulse overlaps, and scanning strategy on the ablation of AISI 316L steel and CuZn37 brass with a nanosecond, 1064-nm, Yb fiber laser. The results show that the material removal rate (MRR) increases monotonically with pulse duration up to the characteristic repetition rate (f0) where pulse energy and average power are maximal. The maximum MRR is reached at a repetition rate that is equal or slightly higher as f0. The exact value depends on the correlation between the fluence of the laser pulses and the pulse repetition rate, as well as on the material properties of the sample. The results show that shielding of the laser beam by plasma and ejected material plays an important role in reducing the MRR. The surface roughness is mainly influenced by the line-to-line and the pulse-to-pulse overlaps, where larger overlap leads to lower roughness. Process optimization indicates that while operating with laser processing parameters resulting in the highest MRR, the best ratio between the MRR and surface roughness appears at ~50% overlap of the laser pulses, regardless of the material being processed.